(04-05) 10:33 PDT CONCORD -- A teenager who ran over and killed a father and daughter riding their bicycles in Concord was sued Friday, along with his parents.

Solaiman Nuri, 41, and his 9-year-old daughter Hadees were killed April 7, 2012, as they rode their bikes on the sidewalk eastbound along Treat Boulevard near Oak Grove Road. Another daughter, 12-year-old Hannah, suffered minor injuries.

Authorities said David Rosen, then 17, was driving a Cadillac Escalade westbound at 72 mph in a 45 mph zone and made an unsafe lane change. The SUV careened onto the sidewalk, shearing off a fire hydrant and striking the family before crashing into a building. Investigators said he was not under the influence of drugs or alcohol and was not texting.

In October 2012, David Rosen was sentenced to the maximum term of more than seven years in confinement. But he will be released at age 21 as required by state law because he was convicted as a minor of two felony counts of vehicular manslaughter. He also admitted to a misdemeanor count of reckless driving causing injury to Hannah.

A probation report cited by a judge noted that the teen had a history of disciplinary and driving problems before the crash.

On Friday, Nuri's widow, Stoorai Nuri, and Hannah filed a wrongful-death lawsuit against Rosen, 19, and his parents, Michael and Kathleen Rosen, in Contra Costa County Superior Court. The suit, which seeks unspecified damages, said the teen acted negligently and that his parents were liable for his actions.

"His parents bankrolled and entrusted that vehicle to him," said the family's attorney Michael Cardoza. "They knew his proclivity for reckless driving, so they are certainly responsible and he is responsible for his grossly negligent conduct."

Stoorai Nuri usually rode with her family but stayed home that morning to cook breakfast for them. Her husband and children were riding from a nearby Jamba Juice, with their smoothies in their bikes' cup holders, when they were hit just a minute before they would have returned home, relatives said.

Solaiman Nuri, known to friends as Sam, was an Afghan immigrant who doted on his family. He coached Hadees' soccer team and drove a truck at the Port of Oakland, a job that allowed him to spend weekends with his wife and daughters.